A Novel Integrated Path Planning Algorithm for Warehouse AGVs
Wen Tao, Yang Daichuan, Liu Weifeng, Wen Chenglin, Cai Baigen
Abstract
We propose an integrated path planning method for multiple automated guided vehicles performing logistics delivery within a real-world warehouse environment considering obstacles. By applying it on each vehicle, this proposed method enables the vehicle the vehicles have the capabilities for autonomous path planning. The path planning consists of three parts, K-means algorithm based task points clustering, genetic algorithm based task points ordering, and the probabilistic road map based best path search. Vehicle conflict resolution is depending on implementing the probabilistic road map construction considering the realistic map with obstacles. The simulations result validate that the clustering and ordering are necessary for the path planning, both the path planning time and the Automated guided vehicles (AGVs) running time can be dramatically reduced.